Real time control for two-wheels inverted pendulum mobile robot
The research on two-wheeled inverted pendulum (TWIP) mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world. This paper describes the hardware design of such a robot. The objective of the design is to deve...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
World Academy of Science, Engineering and Technology
2008
|
| Subjects: | |
| Online Access: | http://eprints.utm.my/id/eprint/8629/1/SWNawawi2008-Real-time_Control_of_a_Two-Wheeled.pdf http://eprints.utm.my/id/eprint/8629/ http://www.waset.org/ijcisse/former.html |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Summary: | The research on two-wheeled inverted pendulum (TWIP)
mobile robots or commonly known as balancing robots have
gained momentum over the last decade in a number of robotic
laboratories around the world. This paper describes the hardware design of such a robot. The objective of the design is to develop a TWIP mobile robot as well as MATLAB interfacing configuration to be used as flexible platform comprises of embedded unstable linear plant intended for research and teaching purposes. Issues such as selection of actuators and sensors, signal processing units, MATLAB
Real Time Workshop coding, modeling and control scheme will be addressed and discussed. The system is then tested using a wellknown state feedback controller to verify its functionality. |
|---|